Dynamic modeling and simulation of a flexible robotic manipulator
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Data
1999-09-01
Autores
Gamarra-Rosado, V. O.
Yuhara, EAO
Título da Revista
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Editor
Cambridge University Press
Resumo
This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.
Descrição
Palavras-chave
advanced manufacturing technologies, robotics, flexible robotic manipulator, dynamic modeling and simulation, vibration active control
Como citar
Robotica. New York: Cambridge Univ Press, v. 17, p. 523-528, 1999.